Abstract
Objective: in view of the current situation that the food sorting robot has higher and higher requirements for speed and precision. Methods: Based on the system architecture of high-speed parallel food sorting robot, a control method of high-speed parallel food sorting robot is proposed, which combines the traditional closed-loop control of kinematics with the feedforward control of torque; Based on the original genetic algorithm tuning PID control parameters, the torque feedforward control method is introduced for dynamic control; The dynamic tracking accuracy and joint torque of the system are compared and analyzed, and the superiority of the control method is verified. Results: compared with the traditional PID control, the maximum and average joint position tracking error is reduced by more than 65%, and the maximum trajectory error is reduced by more than 50%. Conclusion: The dynamic disturbance can be suppressed significantly under the control method when the sorting robot works at high speed.
Publication Date
7-28-2021
First Page
87
Last Page
93
DOI
10.13652/j.issn.1003-5788.2021.07.014
Recommended Citation
Zhen-yu, LIU; Yu-qiang, XUE; and Zu-qiang, XIE
(2021)
"Control technology of high speed food sorting robot based on closed loop and feedforward control,"
Food and Machinery: Vol. 37:
Iss.
7, Article 14.
DOI: 10.13652/j.issn.1003-5788.2021.07.014
Available at:
https://www.ifoodmm.cn/journal/vol37/iss7/14
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